Development And Analysis Of A Bio-inspierd Modular Biped Climbing Robot

Applications in agriculture, forestry and high attitude works will provide a huge stage torobotic systems in the near future. For these application fields, climbing robots has beenattracted a lot of attentions and becomes to be one of the central topics in robotic researches.Although some prototypes of the climbing robots were developed in past few years, the weakclimbing capability in3D environments and lack of functionality are two fatal drawbacks. Toovercome these disadvantages, a novel bio-inspired modular biped climbing robots isdeveloped. Based on this system, configuration design, gait analysis, grasping analysis, andmotion planning are the four main issues deeply and systematically studied in this dissertation.Specifically, the main contributions are as follows.1) A novel bio-inspired modular biped climbing robots called Climbot is developed.Climbot is designed to be a5DOF and symmetrical structure robot based on three types ofself-designed robotic modules which can adapt to the3D climbing task well. The mechanicaland control systems are established. The kinematics and dynamics model of this robot arebuilt. Then, the ability of climbing transition between two arbitrary poles in3D environmentfor Climbot is proved and how to perform the transition is concretely analyzed.2) Three basic climbing gaits are proposed according to the configuration of Climbot.They are inchworm gait, swinging-around gait and flipping-over gait. Maximum momentinflicted on the robot joint and energy consumption are tested in simulations which are twomain criterions for evaluating the above three climbing gaits.3) With the grasping method used for Climbot, the grasping character of force-closure isproved when Climbot is grasping round poles which can firstly ensure the feasibility of ourgrasping method. Then, A two-step force balance model is proposed, based on which therelation between some parameters of the gripper and grasping reliability can be calculatedwith different input wrench. The result can help to improve the gripper.4) A new energy-optimal motion planning method is proposed, which consider thekinematics constraints and dynamics constraints simultaneously. In order to decrease thecomputing complexity, an acceleration continuous trajectory planner and a path planner based on continuous special curves are designed. A searching algorism for optimal path is presented.With a method which gives a collision-free constraint for segment and face, the collision-freeconstraints for robot and obstacle in the moving path is deduced, based on which the motionplanning in the presence of obstacle is analyzed. This method is a general method which canbe implemented on novel6DOF industry robots as well.